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<div class="title">TMC5130Stepper.cpp</div>  </div>
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<a href="_t_m_c5130_stepper_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c_stepper_8h.html">TMCStepper.h</a>&quot;</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_t_m_c___m_a_c_r_o_s_8h.html">TMC_MACROS.h</a>&quot;</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a088aeda9ef66db632a4ede6ce0ac98b4">    4</a></span>&#160;<a class="code" href="class_t_m_c5130_stepper.html#a088aeda9ef66db632a4ede6ce0ac98b4">TMC5130Stepper::TMC5130Stepper</a>(uint16_t pinCS, <span class="keywordtype">float</span> RS, int8_t link) : <a class="code" href="class_t_m_c2160_stepper.html">TMC2160Stepper</a>(pinCS, RS, link)</div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;  { <a class="code" href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">defaults</a>(); }</div>
<div class="line"><a name="l00006"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a86041a5ec3fcc8df393a5aff0ea9bed3">    6</a></span>&#160;<a class="code" href="class_t_m_c5130_stepper.html#a088aeda9ef66db632a4ede6ce0ac98b4">TMC5130Stepper::TMC5130Stepper</a>(uint16_t pinCS, <span class="keywordtype">float</span> RS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link):</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  <a class="code" href="class_t_m_c2160_stepper.html">TMC2160Stepper</a>(pinCS, RS, pinMOSI, pinMISO, pinSCK, link)</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  { <a class="code" href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">defaults</a>(); }</div>
<div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a241f9457df1035801b9466232b635408">    9</a></span>&#160;<a class="code" href="class_t_m_c5130_stepper.html#a088aeda9ef66db632a4ede6ce0ac98b4">TMC5130Stepper::TMC5130Stepper</a>(uint16_t pinCS, uint16_t pinMOSI, uint16_t pinMISO, uint16_t pinSCK, int8_t link) :</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  <a class="code" href="class_t_m_c2160_stepper.html">TMC2160Stepper</a>(pinCS, default_RS, pinMOSI, pinMISO, pinSCK, link)</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  { <a class="code" href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">defaults</a>(); }</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a897212f81817cdaee4536d642badc149">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a897212f81817cdaee4536d642badc149">TMC5130Stepper::begin</a>() {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="class_t_m_c2160_stepper.html#a7ee48b042245ef5b3968b82029d1404c">TMC2160Stepper::begin</a>();</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="class_t_m_c5130_stepper.html#ae33c13bf7dc95cd8a8a4d8e1c444f9e5">XTARGET</a>(0);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">XACTUAL</a>(0);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="comment">//while (( RAMP_STAT() &amp; cfg.VZERO_bm) != cfg.VZERO_bm) {}</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;}</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">   21</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">TMC5130Stepper::defaults</a>() {</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  OUTPUT_register.sr = 1;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  ENC_CONST_register.sr = 65536;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <span class="comment">//MSLUT0_register.sr = ???;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">//MSLUT1_register.sr = ???;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">//MSLUT2_register.sr = ???;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="comment">//MSLUT3_register.sr = ???;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="comment">//MSLUT4_register.sr = ???;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">//MSLUT5_register.sr = ???;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="comment">//MSLUT6_register.sr = ???;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="comment">//MSLUT7_register.sr = ???;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">//MSLUTSEL_register.sr = ???;</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">//MSLUTSTART_register.start_sin = 0;</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="comment">//MSLUTSTART_register.start_sin90 = 247;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  PWMCONF_register.sr = 0x00050480;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;}</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a55e61f5181d74f26c9d35c54e4436d7a">   38</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a55e61f5181d74f26c9d35c54e4436d7a">TMC5130Stepper::push</a>() {</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#a597bc308bad0d1198b98c48a6ef34fc3">IHOLD_IRUN</a>(IHOLD_IRUN_register.sr);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#a66812c883dfbb6dedc046a011b2564be">TPOWERDOWN</a>(TPOWERDOWN_register.sr);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="class_t_m_c_stepper.html#ac59a9305aafc64a63698a34cac404788">TPWMTHRS</a>(TPWMTHRS_register.sr);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#aee84a9abfc84b387c6ae5658f90bf684">GCONF</a>(GCONF_register.sr);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a5db9c2e01d8c1994a5c58d0bf0b1d9b1">TCOOLTHRS</a>(TCOOLTHRS_register.sr);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a8e7d22e8bc39e89b4a02ad1460e4cf25">THIGH</a>(THIGH_register.sr);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#af486cd4712be021c735fc3bcb8eee9f5">XDIRECT</a>(XDIRECT_register.sr);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a4389f7f07c57d2267351b781c6031fb4">VDCMIN</a>(VDCMIN_register.sr);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a67541b27d97ce45f175e9f6e4a2d0bff">CHOPCONF</a>(CHOPCONF_register.sr);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#abc48be984238d94bb3b72ed3aa26f028">COOLCONF</a>(COOLCONF_register.sr);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#a1a90b2919efe61dd825552c2fbeca993">DCCTRL</a>(DCCTRL_register.sr);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#ae59c6240979e95e7b05074e20f3600de">PWMCONF</a>(PWMCONF_register.sr);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="class_t_m_c2130_stepper.html#ae9ccc393519579143c2afb67da9d02a3">ENCM_CTRL</a>(ENCM_CTRL_register.sr);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="class_t_m_c2160_stepper.html#adce396d6676a252e87507a30ba44c693">DRV_CONF</a>(DRV_CONF_register.sr);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">SLAVECONF</a>(SLAVECONF_register.sr);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC_OUTPUT</a>(OUTPUT_register.sr);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">X_COMPARE</a>(X_COMPARE_register.sr);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">RAMPMODE</a>(RAMPMODE_register.sr);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">XACTUAL</a>(XACTUAL_register.sr);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">VSTART</a>(VSTART_register.sr);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">A1</a>(A1_register.sr);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">V1</a>(V1_register.sr);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">AMAX</a>(AMAX_register.sr);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">VMAX</a>(VMAX_register.sr);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">DMAX</a>(DMAX_register.sr);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">D1</a>(D1_register.sr);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">VSTOP</a>(VSTOP_register.sr);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TZEROWAIT</a>(TZEROWAIT_register.sr);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#af78bc5ec6076b4e7ac8006488b069413">SW_MODE</a>(SW_MODE_register.sr);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a3c7840e9435d4332fc6a7742deeefa9f">ENCMODE</a>(ENCMODE_register.sr);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <a class="code" href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">ENC_CONST</a>(ENC_CONST_register.sr);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">// R: IFCNT</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a2d2a5babc82b261952616363464fcd47">   74</a></span>&#160;uint8_t <a class="code" href="class_t_m_c5130_stepper.html#a2d2a5babc82b261952616363464fcd47">TMC5130Stepper::IFCNT</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_i_f_c_n_t__t.html#a21652b805b35effa566737611c37b20b">IFCNT_t::address</a>); }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">// W: SLAVECONF</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">   77</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">TMC5130Stepper::SLAVECONF</a>() { <span class="keywordflow">return</span> SLAVECONF_register.sr; }</div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a38d528af6d7b58454a72e92a56cda141">   78</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">TMC5130Stepper::SLAVECONF</a>(uint16_t input) {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  SLAVECONF_register.sr = input;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(SLAVECONF_register.address, SLAVECONF_register.sr);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">// R: IOIN</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">   84</a></span>&#160;uint32_t  <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">TMC5130Stepper::IOIN</a>() {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#a9dbc20e36efa8ac7af5c9cfac0f1f53a">TMC5130_n::IOIN_t::address</a>);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a7034d397610ed9525f0311be5d2661ba">   87</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#a7034d397610ed9525f0311be5d2661ba">TMC5130Stepper::refl_step</a>()      { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.refl_step; }</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a84477fb2054b59c46e788aa88a4e359f">   88</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#a84477fb2054b59c46e788aa88a4e359f">TMC5130Stepper::refr_dir</a>()       { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.refr_dir; }</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a95fd198d43839424d08a84f92474095e">   89</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#a95fd198d43839424d08a84f92474095e">TMC5130Stepper::encb_dcen_cfg4</a>() { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.encb_dcen_cfg4; }</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#ab6d8e950cf79191cdb634721c4914d7f">   90</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#ab6d8e950cf79191cdb634721c4914d7f">TMC5130Stepper::enca_dcin_cfg5</a>() { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.enca_dcin_cfg5; }</div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a95c4932eec04832c7543b7908555b126">   91</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#a95c4932eec04832c7543b7908555b126">TMC5130Stepper::drv_enn_cfg6</a>()   { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.drv_enn_cfg6; }</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#adc1e0971a9d17880735d30fcb0eac342">   92</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#adc1e0971a9d17880735d30fcb0eac342">TMC5130Stepper::enc_n_dco</a>()      { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.enc_n_dco; }</div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#af23a49d7fd8c9382619c631bea7cd552">   93</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#af23a49d7fd8c9382619c631bea7cd552">TMC5130Stepper::sd_mode</a>()        { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.sd_mode; }</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#abb1e6c7b8e068a0f0e4b44012c0fab01">   94</a></span>&#160;<span class="keywordtype">bool</span>    <a class="code" href="class_t_m_c5130_stepper.html#abb1e6c7b8e068a0f0e4b44012c0fab01">TMC5130Stepper::swcomp_in</a>()      { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.swcomp_in; }</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a5b3fbb33c8d97d946b880e6c50dd0f73">   95</a></span>&#160;uint8_t   <a class="code" href="class_t_m_c5130_stepper.html#a5b3fbb33c8d97d946b880e6c50dd0f73">TMC5130Stepper::version</a>()      { <a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a> r{0}; r.<a class="code" href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">sr</a> = <a class="code" href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">IOIN</a>(); <span class="keywordflow">return</span> r.version; }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">// W: OUTPUT</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">   98</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC5130Stepper::TMC_OUTPUT</a>() { <span class="keywordflow">return</span> OUTPUT_register.sr; }</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a1972058b4840e283b0db82607a177b8a">   99</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC5130Stepper::TMC_OUTPUT</a>(<span class="keywordtype">bool</span> input) {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  OUTPUT_register.sr = input;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(OUTPUT_register.address, OUTPUT_register.sr);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">// W: X_COMPARE</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">  105</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">TMC5130Stepper::X_COMPARE</a>() { <span class="keywordflow">return</span> X_COMPARE_register.sr; }</div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a9f07f02f86043e2f6838d981c8640a85">  106</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">TMC5130Stepper::X_COMPARE</a>(uint32_t input) {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  X_COMPARE_register.sr = input;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(X_COMPARE_register.address, X_COMPARE_register.sr);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">// RW: RAMPMODE</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">  112</a></span>&#160;uint8_t <a class="code" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">TMC5130Stepper::RAMPMODE</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(RAMPMODE_register.address); }</div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a2aa27be074f0db127f559430dd4aa0a5">  113</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">TMC5130Stepper::RAMPMODE</a>(uint8_t input) {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  RAMPMODE_register.sr = input;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(RAMPMODE_register.address, RAMPMODE_register.sr);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">// RW: XACTUAL</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">  119</a></span>&#160;int32_t <a class="code" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">TMC5130Stepper::XACTUAL</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(XACTUAL_register.address); }</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a94b69d8b20ac649d53eba036afdbbe41">  120</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">TMC5130Stepper::XACTUAL</a>(int32_t input) {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(XACTUAL_register.address, input);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">// R: VACTUAL</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#acd29f5c1f0f47342dd2d942c9c5252c1">  125</a></span>&#160;int32_t <a class="code" href="class_t_m_c5130_stepper.html#acd29f5c1f0f47342dd2d942c9c5252c1">TMC5130Stepper::VACTUAL</a>() {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  uint32_t int24 = <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_v_a_c_t_u_a_l__t.html#a30806c0b4303ad969511b6484922ba22">VACTUAL_t::address</a>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">if</span>((int24 &gt;&gt; 23) &amp; 0x01) {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    int24 |= 0xFF000000;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">return</span> int24;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;}</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">// W: VSTART</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">  134</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">TMC5130Stepper::VSTART</a>() { <span class="keywordflow">return</span> VSTART_register.sr; }</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aa2928a4fa71e3f39a475c02fc8354f04">  135</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">TMC5130Stepper::VSTART</a>(uint32_t input) {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  VSTART_register.sr = input;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(VSTART_register.address, VSTART_register.sr);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">// W: A1</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">  141</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">TMC5130Stepper::A1</a>() { <span class="keywordflow">return</span> A1_register.sr; }</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a76052c6b0797d7f5707167f9dc38c070">  142</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">TMC5130Stepper::A1</a>(uint16_t input) {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  A1_register.sr = input;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(A1_register.address, A1_register.sr);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">// W: V1</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">  148</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">TMC5130Stepper::V1</a>() { <span class="keywordflow">return</span> V1_register.sr; }</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a6ceb1527d739c48d14e0267411260fa1">  149</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">TMC5130Stepper::V1</a>(uint32_t input) {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  V1_register.sr = input;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(V1_register.address, V1_register.sr);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">// W: AMAX</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">  155</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">TMC5130Stepper::AMAX</a>() { <span class="keywordflow">return</span> AMAX_register.sr; }</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a967f67e12de5fc725f34d1f07e751146">  156</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">TMC5130Stepper::AMAX</a>(uint16_t input) {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  AMAX_register.sr = input;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(AMAX_register.address, AMAX_register.sr);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">// W: VMAX</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">  162</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">TMC5130Stepper::VMAX</a>() { <span class="keywordflow">return</span> VMAX_register.sr; }</div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a79b391d7358f5dc7402dac2ae7bf7ee6">  163</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">TMC5130Stepper::VMAX</a>(uint32_t input) {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  VMAX_register.sr = input;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(VMAX_register.address, VMAX_register.sr);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">// W: DMAX</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">  169</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">TMC5130Stepper::DMAX</a>() { <span class="keywordflow">return</span> DMAX_register.sr; }</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a6fc018f81c10dd3307d55b31d070b816">  170</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">TMC5130Stepper::DMAX</a>(uint16_t input) {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  DMAX_register.sr = input;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(DMAX_register.address, DMAX_register.sr);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">// W: D1</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">  176</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">TMC5130Stepper::D1</a>() { <span class="keywordflow">return</span> D1_register.sr; }</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#abc7865021874083213e60aa77b7201d6">  177</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">TMC5130Stepper::D1</a>(uint16_t input) {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  D1_register.sr = input;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(D1_register.address, D1_register.sr);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment">// W: VSTOP</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">  183</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">TMC5130Stepper::VSTOP</a>() { <span class="keywordflow">return</span> VSTOP_register.sr; }</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a6907df333d262328b7a6e2832c3590a0">  184</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">TMC5130Stepper::VSTOP</a>(uint32_t input) {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">if</span> (input == 0 &amp;&amp; <a class="code" href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">RAMPMODE</a>() == 0) <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  VSTOP_register.sr = input;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(VSTOP_register.address, VSTOP_register.sr);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">// W: TZEROWAIT</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">  191</a></span>&#160;uint16_t <a class="code" href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TMC5130Stepper::TZEROWAIT</a>() { <span class="keywordflow">return</span> TZEROWAIT_register.sr; }</div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a9918c9f49ed95343377f84523a43f857">  192</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TMC5130Stepper::TZEROWAIT</a>(uint16_t input) {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  TZEROWAIT_register.sr = input;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(TZEROWAIT_register.address, TZEROWAIT_register.sr);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">// RW: XTARGET</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#ae33c13bf7dc95cd8a8a4d8e1c444f9e5">  198</a></span>&#160;int32_t <a class="code" href="class_t_m_c5130_stepper.html#ae33c13bf7dc95cd8a8a4d8e1c444f9e5">TMC5130Stepper::XTARGET</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_x_t_a_r_g_e_t__t.html#a51e6a491d899b13119df1e8a455070fe">XTARGET_t::address</a>); }</div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#ac6db9621fa769994b3b6481ba3043b4b">  199</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#ae33c13bf7dc95cd8a8a4d8e1c444f9e5">TMC5130Stepper::XTARGET</a>(int32_t input) {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_x_t_a_r_g_e_t__t.html#a51e6a491d899b13119df1e8a455070fe">XTARGET_t::address</a>, input);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;}</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">// R: XLATCH</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aa027fe70ea5dc43b7bb0ac4452b4cbc3">  204</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#aa027fe70ea5dc43b7bb0ac4452b4cbc3">TMC5130Stepper::XLATCH</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_x_l_a_t_c_h__t.html#a640567c26eccf1fa1cb3823161a64c17">XLATCH_t::address</a>); }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">// RW: X_ENC</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a432764a59619856079ecfb56ee426f2d">  207</a></span>&#160;int32_t <a class="code" href="class_t_m_c5130_stepper.html#a432764a59619856079ecfb56ee426f2d">TMC5130Stepper::X_ENC</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_x___e_n_c__t.html#a9ef8e58857e524cc8850752453cbba6b">X_ENC_t::address</a>); }</div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a96df3216ae2849d3ad7252ea9f27edbb">  208</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a432764a59619856079ecfb56ee426f2d">TMC5130Stepper::X_ENC</a>(int32_t input) {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_x___e_n_c__t.html#a9ef8e58857e524cc8850752453cbba6b">X_ENC_t::address</a>, input);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment">// W: ENC_CONST</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">  213</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">TMC5130Stepper::ENC_CONST</a>() { <span class="keywordflow">return</span> ENC_CONST_register.sr; }</div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a4e170413a630ba0037569cb2cb96351c">  214</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">TMC5130Stepper::ENC_CONST</a>(uint32_t input) {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  ENC_CONST_register.sr = input;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <a class="code" href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">write</a>(ENC_CONST_register.address, ENC_CONST_register.sr);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;}</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">// R: ENC_STATUS</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#aa51b7320a8feccf48756dbd81638be43">  220</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="class_t_m_c5130_stepper.html#aa51b7320a8feccf48756dbd81638be43">TMC5130Stepper::ENC_STATUS</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html#a504a76eac8837bf0b65018bf1ff710de">ENC_STATUS_t::address</a>); }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment">// R: ENC_LATCH</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="class_t_m_c5130_stepper.html#a2dfc06fb1bfb9610b94257c822d803f4">  223</a></span>&#160;uint32_t <a class="code" href="class_t_m_c5130_stepper.html#a2dfc06fb1bfb9610b94257c822d803f4">TMC5130Stepper::ENC_LATCH</a>() { <span class="keywordflow">return</span> <a class="code" href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">read</a>(<a class="code" href="struct_t_m_c5130_stepper_1_1_e_n_c___l_a_t_c_h__t.html#a49edfa0c8e5c596a5a366a504fc71686">ENC_LATCH_t::address</a>); }</div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a694840324312e15515f3215c83565645"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a694840324312e15515f3215c83565645">TMC5130Stepper::X_COMPARE</a></div><div class="ttdeci">uint32_t X_COMPARE()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00105">TMC5130Stepper.cpp:105</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a7ddd27bea8034e6aec78ab2cf83cedd4"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a7ddd27bea8034e6aec78ab2cf83cedd4">TMC5130Stepper::XACTUAL</a></div><div class="ttdeci">int32_t XACTUAL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00119">TMC5130Stepper.cpp:119</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_ae33c13bf7dc95cd8a8a4d8e1c444f9e5"><div class="ttname"><a href="class_t_m_c5130_stepper.html#ae33c13bf7dc95cd8a8a4d8e1c444f9e5">TMC5130Stepper::XTARGET</a></div><div class="ttdeci">int32_t XTARGET()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00198">TMC5130Stepper.cpp:198</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_af23a49d7fd8c9382619c631bea7cd552"><div class="ttname"><a href="class_t_m_c5130_stepper.html#af23a49d7fd8c9382619c631bea7cd552">TMC5130Stepper::sd_mode</a></div><div class="ttdeci">bool sd_mode()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00093">TMC5130Stepper.cpp:93</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a8e7d22e8bc39e89b4a02ad1460e4cf25"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a8e7d22e8bc39e89b4a02ad1460e4cf25">TMC2130Stepper::THIGH</a></div><div class="ttdeci">uint32_t THIGH()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00244">TMC2130Stepper.cpp:244</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a93bf8f37da496535e8c7313096051de7"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a93bf8f37da496535e8c7313096051de7">TMC5130Stepper::VSTART</a></div><div class="ttdeci">uint32_t VSTART()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00134">TMC5130Stepper.cpp:134</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_adce396d6676a252e87507a30ba44c693"><div class="ttname"><a href="class_t_m_c2160_stepper.html#adce396d6676a252e87507a30ba44c693">TMC2160Stepper::DRV_CONF</a></div><div class="ttdeci">uint32_t DRV_CONF()</div><div class="ttdef"><b>Definition:</b> <a href="_d_r_v___c_o_n_f_8cpp_source.html#l00008">DRV_CONF.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a2dfc06fb1bfb9610b94257c822d803f4"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a2dfc06fb1bfb9610b94257c822d803f4">TMC5130Stepper::ENC_LATCH</a></div><div class="ttdeci">uint32_t ENC_LATCH()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00223">TMC5130Stepper.cpp:223</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_ae9ccc393519579143c2afb67da9d02a3"><div class="ttname"><a href="class_t_m_c2130_stepper.html#ae9ccc393519579143c2afb67da9d02a3">TMC2130Stepper::ENCM_CTRL</a></div><div class="ttdeci">uint8_t ENCM_CTRL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00302">TMC2130Stepper.cpp:302</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a088aeda9ef66db632a4ede6ce0ac98b4"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a088aeda9ef66db632a4ede6ce0ac98b4">TMC5130Stepper::TMC5130Stepper</a></div><div class="ttdeci">TMC5130Stepper(uint16_t pinCS, float RS=default_RS, int8_t link_index=-1)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00004">TMC5130Stepper.cpp:4</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a2d2a5babc82b261952616363464fcd47"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a2d2a5babc82b261952616363464fcd47">TMC5130Stepper::IFCNT</a></div><div class="ttdeci">uint8_t IFCNT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00074">TMC5130Stepper.cpp:74</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a55e61f5181d74f26c9d35c54e4436d7a"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a55e61f5181d74f26c9d35c54e4436d7a">TMC5130Stepper::push</a></div><div class="ttdeci">void push()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00038">TMC5130Stepper.cpp:38</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a5b3fbb33c8d97d946b880e6c50dd0f73"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a5b3fbb33c8d97d946b880e6c50dd0f73">TMC5130Stepper::version</a></div><div class="ttdeci">uint8_t version()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00095">TMC5130Stepper.cpp:95</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a1a90b2919efe61dd825552c2fbeca993"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a1a90b2919efe61dd825552c2fbeca993">TMC2130Stepper::DCCTRL</a></div><div class="ttdeci">uint32_t DCCTRL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00284">TMC2130Stepper.cpp:284</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a020e6ae2a6abce1a92338345aab2ae7c"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a020e6ae2a6abce1a92338345aab2ae7c">TMC5130Stepper::RAMPMODE</a></div><div class="ttdeci">uint8_t RAMPMODE()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00112">TMC5130Stepper.cpp:112</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aaeb93e5fd8e0ad7cd4f70edfa69fec47"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aaeb93e5fd8e0ad7cd4f70edfa69fec47">TMC5130Stepper::defaults</a></div><div class="ttdeci">void defaults()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00021">TMC5130Stepper.cpp:21</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a3da5ddefeaea5e017d8e608e43269e1e"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a3da5ddefeaea5e017d8e608e43269e1e">TMC5130Stepper::TZEROWAIT</a></div><div class="ttdeci">uint16_t TZEROWAIT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00191">TMC5130Stepper.cpp:191</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_abc48be984238d94bb3b72ed3aa26f028"><div class="ttname"><a href="class_t_m_c2130_stepper.html#abc48be984238d94bb3b72ed3aa26f028">TMC2130Stepper::COOLCONF</a></div><div class="ttdeci">uint32_t COOLCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_c_o_o_l_c_o_n_f_8cpp_source.html#l00008">COOLCONF.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html"><div class="ttname"><a href="class_t_m_c2160_stepper.html">TMC2160Stepper</a></div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00360">TMCStepper.h:360</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_acd29f5c1f0f47342dd2d942c9c5252c1"><div class="ttname"><a href="class_t_m_c5130_stepper.html#acd29f5c1f0f47342dd2d942c9c5252c1">TMC5130Stepper::VACTUAL</a></div><div class="ttdeci">int32_t VACTUAL()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00125">TMC5130Stepper.cpp:125</a></div></div>
<div class="ttc" id="a_t_m_c_stepper_8h_html"><div class="ttname"><a href="_t_m_c_stepper_8h.html">TMCStepper.h</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_af78bc5ec6076b4e7ac8006488b069413"><div class="ttname"><a href="class_t_m_c5130_stepper.html#af78bc5ec6076b4e7ac8006488b069413">TMC5130Stepper::SW_MODE</a></div><div class="ttdeci">uint32_t SW_MODE()</div><div class="ttdef"><b>Definition:</b> <a href="_s_w___m_o_d_e_8cpp_source.html#l00008">SW_MODE.cpp:8</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_i_f_c_n_t__t_html_a21652b805b35effa566737611c37b20b"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_i_f_c_n_t__t.html#a21652b805b35effa566737611c37b20b">TMC5130Stepper::IFCNT_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00654">TMCStepper.h:654</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a4389f7f07c57d2267351b781c6031fb4"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a4389f7f07c57d2267351b781c6031fb4">TMC2130Stepper::VDCMIN</a></div><div class="ttdeci">uint32_t VDCMIN()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00264">TMC2130Stepper.cpp:264</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a74e9e262a8da77925d246916b431161d"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a74e9e262a8da77925d246916b431161d">TMC5130Stepper::IOIN</a></div><div class="ttdeci">uint32_t IOIN()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00084">TMC5130Stepper.cpp:84</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_ae59c6240979e95e7b05074e20f3600de"><div class="ttname"><a href="class_t_m_c2160_stepper.html#ae59c6240979e95e7b05074e20f3600de">TMC2160Stepper::PWMCONF</a></div><div class="ttdeci">uint32_t PWMCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_p_w_m_c_o_n_f_8cpp_source.html#l00028">PWMCONF.cpp:28</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_x___e_n_c__t_html_a9ef8e58857e524cc8850752453cbba6b"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_x___e_n_c__t.html#a9ef8e58857e524cc8850752453cbba6b">TMC5130Stepper::X_ENC_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00658">TMCStepper.h:658</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_aed0175bff6e80ebc14e0d2606283cbe0"><div class="ttname"><a href="class_t_m_c2130_stepper.html#aed0175bff6e80ebc14e0d2606283cbe0">TMC2130Stepper::read</a></div><div class="ttdeci">uint32_t read(uint8_t addressByte)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00065">TMC2130Stepper.cpp:65</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a84477fb2054b59c46e788aa88a4e359f"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a84477fb2054b59c46e788aa88a4e359f">TMC5130Stepper::refr_dir</a></div><div class="ttdeci">bool refr_dir()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00088">TMC5130Stepper.cpp:88</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_ab6d8e950cf79191cdb634721c4914d7f"><div class="ttname"><a href="class_t_m_c5130_stepper.html#ab6d8e950cf79191cdb634721c4914d7f">TMC5130Stepper::enca_dcin_cfg5</a></div><div class="ttdeci">bool enca_dcin_cfg5()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00090">TMC5130Stepper.cpp:90</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_ac24024aff92555221df26b8d30ccbe09"><div class="ttname"><a href="class_t_m_c5130_stepper.html#ac24024aff92555221df26b8d30ccbe09">TMC5130Stepper::V1</a></div><div class="ttdeci">uint32_t V1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00148">TMC5130Stepper.cpp:148</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_af8d19dd1bae46451e78573843d52cd36"><div class="ttname"><a href="class_t_m_c5130_stepper.html#af8d19dd1bae46451e78573843d52cd36">TMC5130Stepper::TMC_OUTPUT</a></div><div class="ttdeci">bool TMC_OUTPUT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00098">TMC5130Stepper.cpp:98</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_aee84a9abfc84b387c6ae5658f90bf684"><div class="ttname"><a href="class_t_m_c2130_stepper.html#aee84a9abfc84b387c6ae5658f90bf684">TMC2130Stepper::GCONF</a></div><div class="ttdeci">uint32_t GCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_g_c_o_n_f_8cpp_source.html#l00007">GCONF.cpp:7</a></div></div>
<div class="ttc" id="a_t_m_c___m_a_c_r_o_s_8h_html"><div class="ttname"><a href="_t_m_c___m_a_c_r_o_s_8h.html">TMC_MACROS.h</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a1d199eabd1b7da86c2518603c10bf8d9"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a1d199eabd1b7da86c2518603c10bf8d9">TMC5130Stepper::AMAX</a></div><div class="ttdeci">uint16_t AMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00155">TMC5130Stepper.cpp:155</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a95fd198d43839424d08a84f92474095e"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a95fd198d43839424d08a84f92474095e">TMC5130Stepper::encb_dcen_cfg4</a></div><div class="ttdeci">bool encb_dcen_cfg4()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00089">TMC5130Stepper.cpp:89</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a67541b27d97ce45f175e9f6e4a2d0bff"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a67541b27d97ce45f175e9f6e4a2d0bff">TMC2130Stepper::CHOPCONF</a></div><div class="ttdeci">uint32_t CHOPCONF()</div><div class="ttdef"><b>Definition:</b> <a href="_c_h_o_p_c_o_n_f_8cpp_source.html#l00007">CHOPCONF.cpp:7</a></div></div>
<div class="ttc" id="aclass_t_m_c2160_stepper_html_a7ee48b042245ef5b3968b82029d1404c"><div class="ttname"><a href="class_t_m_c2160_stepper.html#a7ee48b042245ef5b3968b82029d1404c">TMC2160Stepper::begin</a></div><div class="ttdeci">void begin()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2160_stepper_8cpp_source.html#l00013">TMC2160Stepper.cpp:13</a></div></div>
<div class="ttc" id="astruct_t_m_c5130__n_1_1_i_o_i_n__t_html"><div class="ttname"><a href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html">TMC5130_n::IOIN_t</a></div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130__bitfields_8h_source.html#l00016">TMC5130_bitfields.h:16</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a6476b50719166c3d820991d266025dee"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a6476b50719166c3d820991d266025dee">TMC5130Stepper::A1</a></div><div class="ttdeci">uint16_t A1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00141">TMC5130Stepper.cpp:141</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_e_n_c___l_a_t_c_h__t_html_a49edfa0c8e5c596a5a366a504fc71686"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_e_n_c___l_a_t_c_h__t.html#a49edfa0c8e5c596a5a366a504fc71686">TMC5130Stepper::ENC_LATCH_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00660">TMCStepper.h:660</a></div></div>
<div class="ttc" id="astruct_t_m_c5130__n_1_1_i_o_i_n__t_html_af19550a349b5a30280b1dceb51240524"><div class="ttname"><a href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#af19550a349b5a30280b1dceb51240524">TMC5130_n::IOIN_t::sr</a></div><div class="ttdeci">uint32_t sr</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130__bitfields_8h_source.html#l00019">TMC5130_bitfields.h:19</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_acebb43936d46f78195486c79dc2cf75e"><div class="ttname"><a href="class_t_m_c5130_stepper.html#acebb43936d46f78195486c79dc2cf75e">TMC5130Stepper::SLAVECONF</a></div><div class="ttdeci">uint16_t SLAVECONF()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00077">TMC5130Stepper.cpp:77</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aaa76fdd1c6e8e7f6bb886e0b0031a500"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aaa76fdd1c6e8e7f6bb886e0b0031a500">TMC5130Stepper::VMAX</a></div><div class="ttdeci">uint32_t VMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00162">TMC5130Stepper.cpp:162</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aa51b7320a8feccf48756dbd81638be43"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aa51b7320a8feccf48756dbd81638be43">TMC5130Stepper::ENC_STATUS</a></div><div class="ttdeci">bool ENC_STATUS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00220">TMC5130Stepper.cpp:220</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a5cf838fb4ec111c06714f666e8e1807b"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a5cf838fb4ec111c06714f666e8e1807b">TMC5130Stepper::ENC_CONST</a></div><div class="ttdeci">uint32_t ENC_CONST()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00213">TMC5130Stepper.cpp:213</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_x_t_a_r_g_e_t__t_html_a51e6a491d899b13119df1e8a455070fe"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_x_t_a_r_g_e_t__t.html#a51e6a491d899b13119df1e8a455070fe">TMC5130Stepper::XTARGET_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00656">TMCStepper.h:656</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_a66812c883dfbb6dedc046a011b2564be"><div class="ttname"><a href="class_t_m_c_stepper.html#a66812c883dfbb6dedc046a011b2564be">TMCStepper::TPOWERDOWN</a></div><div class="ttdeci">uint8_t TPOWERDOWN()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8cpp_source.html#l00123">TMCStepper.cpp:123</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_x_l_a_t_c_h__t_html_a640567c26eccf1fa1cb3823161a64c17"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_x_l_a_t_c_h__t.html#a640567c26eccf1fa1cb3823161a64c17">TMC5130Stepper::XLATCH_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00657">TMCStepper.h:657</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a5db9c2e01d8c1994a5c58d0bf0b1d9b1"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a5db9c2e01d8c1994a5c58d0bf0b1d9b1">TMC2130Stepper::TCOOLTHRS</a></div><div class="ttdeci">uint32_t TCOOLTHRS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00237">TMC2130Stepper.cpp:237</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t_html_a504a76eac8837bf0b65018bf1ff710de"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_e_n_c___s_t_a_t_u_s__t.html#a504a76eac8837bf0b65018bf1ff710de">TMC5130Stepper::ENC_STATUS_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00659">TMCStepper.h:659</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aaa7d6b05f9e6fc1bcb4d3b59de16f509"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aaa7d6b05f9e6fc1bcb4d3b59de16f509">TMC5130Stepper::D1</a></div><div class="ttdeci">uint16_t D1()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00176">TMC5130Stepper.cpp:176</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_adc1e0971a9d17880735d30fcb0eac342"><div class="ttname"><a href="class_t_m_c5130_stepper.html#adc1e0971a9d17880735d30fcb0eac342">TMC5130Stepper::enc_n_dco</a></div><div class="ttdeci">bool enc_n_dco()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00092">TMC5130Stepper.cpp:92</a></div></div>
<div class="ttc" id="astruct_t_m_c5130__n_1_1_i_o_i_n__t_html_a9dbc20e36efa8ac7af5c9cfac0f1f53a"><div class="ttname"><a href="struct_t_m_c5130__n_1_1_i_o_i_n__t.html#a9dbc20e36efa8ac7af5c9cfac0f1f53a">TMC5130_n::IOIN_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130__bitfields_8h_source.html#l00017">TMC5130_bitfields.h:17</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_aa027fe70ea5dc43b7bb0ac4452b4cbc3"><div class="ttname"><a href="class_t_m_c5130_stepper.html#aa027fe70ea5dc43b7bb0ac4452b4cbc3">TMC5130Stepper::XLATCH</a></div><div class="ttdeci">uint32_t XLATCH()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00204">TMC5130Stepper.cpp:204</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_a1f26f0ea072d38c0afd20f27563ebb64"><div class="ttname"><a href="class_t_m_c2130_stepper.html#a1f26f0ea072d38c0afd20f27563ebb64">TMC2130Stepper::write</a></div><div class="ttdeci">void write(uint8_t addressByte, uint32_t config)</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00148">TMC2130Stepper.cpp:148</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a95c4932eec04832c7543b7908555b126"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a95c4932eec04832c7543b7908555b126">TMC5130Stepper::drv_enn_cfg6</a></div><div class="ttdeci">bool drv_enn_cfg6()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00091">TMC5130Stepper.cpp:91</a></div></div>
<div class="ttc" id="astruct_t_m_c5130_stepper_1_1_v_a_c_t_u_a_l__t_html_a30806c0b4303ad969511b6484922ba22"><div class="ttname"><a href="struct_t_m_c5130_stepper_1_1_v_a_c_t_u_a_l__t.html#a30806c0b4303ad969511b6484922ba22">TMC5130Stepper::VACTUAL_t::address</a></div><div class="ttdeci">constexpr static uint8_t address</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8h_source.html#l00655">TMCStepper.h:655</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a3c7840e9435d4332fc6a7742deeefa9f"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a3c7840e9435d4332fc6a7742deeefa9f">TMC5130Stepper::ENCMODE</a></div><div class="ttdeci">uint32_t ENCMODE()</div><div class="ttdef"><b>Definition:</b> <a href="_e_n_c_m_o_d_e_8cpp_source.html#l00008">ENCMODE.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_abb1e6c7b8e068a0f0e4b44012c0fab01"><div class="ttname"><a href="class_t_m_c5130_stepper.html#abb1e6c7b8e068a0f0e4b44012c0fab01">TMC5130Stepper::swcomp_in</a></div><div class="ttdeci">bool swcomp_in()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00094">TMC5130Stepper.cpp:94</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a7034d397610ed9525f0311be5d2661ba"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a7034d397610ed9525f0311be5d2661ba">TMC5130Stepper::refl_step</a></div><div class="ttdeci">bool refl_step()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00087">TMC5130Stepper.cpp:87</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_a597bc308bad0d1198b98c48a6ef34fc3"><div class="ttname"><a href="class_t_m_c_stepper.html#a597bc308bad0d1198b98c48a6ef34fc3">TMCStepper::IHOLD_IRUN</a></div><div class="ttdeci">uint32_t IHOLD_IRUN()</div><div class="ttdef"><b>Definition:</b> <a href="_i_h_o_l_d___i_r_u_n_8cpp_source.html#l00008">IHOLD_IRUN.cpp:8</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a4ba4cbc9e54f1f43255ebeca609a3d7c"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a4ba4cbc9e54f1f43255ebeca609a3d7c">TMC5130Stepper::DMAX</a></div><div class="ttdeci">uint16_t DMAX()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00169">TMC5130Stepper.cpp:169</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a7afed936cd9b037d460dc30433d89911"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a7afed936cd9b037d460dc30433d89911">TMC5130Stepper::VSTOP</a></div><div class="ttdeci">uint32_t VSTOP()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00183">TMC5130Stepper.cpp:183</a></div></div>
<div class="ttc" id="aclass_t_m_c_stepper_html_ac59a9305aafc64a63698a34cac404788"><div class="ttname"><a href="class_t_m_c_stepper.html#ac59a9305aafc64a63698a34cac404788">TMCStepper::TPWMTHRS</a></div><div class="ttdeci">uint32_t TPWMTHRS()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c_stepper_8cpp_source.html#l00133">TMCStepper.cpp:133</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a432764a59619856079ecfb56ee426f2d"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a432764a59619856079ecfb56ee426f2d">TMC5130Stepper::X_ENC</a></div><div class="ttdeci">int32_t X_ENC()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00207">TMC5130Stepper.cpp:207</a></div></div>
<div class="ttc" id="aclass_t_m_c2130_stepper_html_af486cd4712be021c735fc3bcb8eee9f5"><div class="ttname"><a href="class_t_m_c2130_stepper.html#af486cd4712be021c735fc3bcb8eee9f5">TMC2130Stepper::XDIRECT</a></div><div class="ttdeci">uint32_t XDIRECT()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c2130_stepper_8cpp_source.html#l00251">TMC2130Stepper.cpp:251</a></div></div>
<div class="ttc" id="aclass_t_m_c5130_stepper_html_a897212f81817cdaee4536d642badc149"><div class="ttname"><a href="class_t_m_c5130_stepper.html#a897212f81817cdaee4536d642badc149">TMC5130Stepper::begin</a></div><div class="ttdeci">void begin()</div><div class="ttdef"><b>Definition:</b> <a href="_t_m_c5130_stepper_8cpp_source.html#l00013">TMC5130Stepper.cpp:13</a></div></div>
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